EP2521319B1 - Réseau de type CAN avec taux de débit de données flexible - Google Patents
Réseau de type CAN avec taux de débit de données flexible Download PDFInfo
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- EP2521319B1 EP2521319B1 EP11164445.6A EP11164445A EP2521319B1 EP 2521319 B1 EP2521319 B1 EP 2521319B1 EP 11164445 A EP11164445 A EP 11164445A EP 2521319 B1 EP2521319 B1 EP 2521319B1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
- H04L41/0896—Bandwidth or capacity management, i.e. automatically increasing or decreasing capacities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/4013—Management of data rate on the bus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/22—Time-division multiplex systems in which the sources have different rates or codes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L2001/0092—Error control systems characterised by the topology of the transmission link
- H04L2001/0094—Bus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Definitions
- the US patent application US2006/123716 discloses a CAN bus communication node comprising various CAN controllers, wherein each CAN controller can transmit messages on the bus at a specific bit rate.
- a white paper describes a new protocol, that is based on the CAN protocol as specified in ISO 11898-1 and is called "CAN with Flexible Data-Rate" or CAN FD. It still uses the CAN bus arbitration method, it increases the bit-rate by switching to a shorter bit time after the end of the arbitration process and returns to the longer bit time at the CRC Delimiter, before the receivers send their acknowledge bits. The effective data-rate is increased by allowing longer data fields.
- CAN uses four bits as Data Length Code resulting in 16 different codes, but only the first nine values are used, codes [0 - 8] standing for data field length of [0 - 8] bytes. In CAN, the codes [9 - 15] are defined to signify eight data bytes. In CAN FD, the codes are used to signify longer data fields.
- CAN systems can migrate gradually to CAN FD systems. All nodes in the network must have a CAN FD protocol controller for CAN FD communication, but all CAN FD protocol controllers are also able to take part in standard CAN communication. If the CAN FD communication is limited to data fields with a length of up to eight data bytes, it is not necessary to change the application program apart from the initial configuration of the controller.
- the Controller Area Network is a serial communications protocol which efficiently supports distributed realtime control with a very high level of security. Its domain of application ranges from high speed networks to low cost multiplex wiring. In automotive electronics, engine control units, sensors, anti-skid-systems, etc. are connected using CAN with bitrates up to 1 Mbit/s. At the same time it is cost effective to build into vehicle body electronics, e.g. lamp clusters, electric windows etc. to replace the wiring harness otherwise required.
- vehicle body electronics e.g. lamp clusters, electric windows etc.
- CAN FD (CAN with Flexible Data-Rate) complements CAN in applications that require a higher data-rate.
- CAN FD protocol controllers are also able to take part in standard CAN communication, making it possible to use CAN FD only in specific operation modes, e.g. software-download at end-of-line or maintenance.
- CAN FD requires two sets of bit timing configuration registers, one bit time for the arbitration phase and one bit time for the data field.
- the bit time for the arbitration phase has the same limitations as in standard CAN networks, the bit time for the data field is chosen with regard to the performance of the chosen transceiver and the characteristics of the CAN FD network.
- Standard CAN transceivers can be used for CAN FD, dedicated transceivers are optional.
- CAN FD protocol controllers may provide additional interface signals to switch - in the phase with higher bit-rate - a dedicated CAN FD transceiver into an alternate operating mode.
- Dedicated CAN FD transceivers may use an alternate coding system in the phase with higher bit-rate, not restricted to CAN's NRZ coding.
- a CAN FD frame consists of the same elements as a CAN frame, the difference is that in a CAN FD frame, the Data Field and the CRC Field may be longer.
- Message validation requires, as in CAN, a dominant Acknowledge bit from at least one receiver.
- the CAN FD fault confinement with Error Frames, Error Counters, Error Passive level and Bus-Off level is the same as in CAN, it is based on the same five error types: Bit Error, Stuff Error, CRC Error, Form Error, and Acknowledgement Error.
- FIG. 1 An example of a CAN FD frame is pictured in Figure 1 .
- CAN FD frames have the same structure as CAN frames, the differentiation between CAN frames and CAN FD frames is at the reserved bit immediately before the Data Length Code in the Control Field. In a CAN FD frame, this bit is transmitted recessive. The first part of a CAN FD frame, until the reserved bit that distinguishes the protocols, is transmitted with the same bit-rate as a CAN frame. The bit-rate is switched after the reserved bit until the CRC Delimiter is reached or until the CAN FD controller sees an error condition that results in the starting of an Error Frame.
- CAN FD Error Frames, as well as ACK Field, End of Frame, and Overload Frames are transmitted with the same bit-rate as a CAN Error Frame.
- Figure 2 shows the position where the bit-rate is switched within a message.
- CAN FD supports both Identifier lengths of the CAN protocol, the 11 bit long "Standard Format” and the 29 bit long "Extended Format". In both cases, the bit-rate is switched to the shorter bit time at the reserved bit r0 (before the DLC).
- the number of bytes in the DATA FIELD is indicated by the DATA LENGTH CODE.
- This DATA LENGTH CODE is 4 bits wide and is transmitted within the CONTROL FIELD.
- the coding of the DATA LENGTH CODE is different in CAN FD.
- the first nine codes are the same, but the following codes, that in CAN specify a DATA FIELD of eight bytes, specify longer DATA FIELDS in CAN FD. All Remote Frames shall use a DATA LENGTH CODE of zero, regardless of the DATA LENGTH CODE of the corresponding Data Frame.
- the maximum length of the DATA FIELD is specified to be 64 bytes. This value, and the other values > 8 of DATA LENGTH CODE may change in the final specification of CAN FD.
- the coding of the number of data bytes by the DATA LENGTH CODE is described in Figure 3 .
- the CRC FIELD contains the CRC SEQUENCE followed by a CRC DELIMITER, as shown in Figure 4 .
- CRC SEQUENCE The frame check sequence is derived from a cyclic redundancy code (BCH Code).
- BCH Code cyclic redundancy code
- the polynomial to be divided is defined as the polynomial, the coefficients of which are given by the relevant bit stream.
- CAN FD uses different CRC polynomials for different frame length. For frames with up to eight data bytes, the same polynomial as in CAN is used.
- the relevant bit stream is the destuffed bit stream consisting of START OF FRAME, ARBITRATION FIELD, CONTROL FIELD, DATA FIELD (if present) and, for the 15 lowest coefficients, by 0.
- CRC DELIMITER The CRC SEQUENCE is followed by the CRC DELIMITER which consists of one or two 'recessive' bits. A transmitter shall send only one 'recessive' bit as CRC Delimiter but all nodes shall accept two 'recessive' bits before the edge from recessive to dominant that starts the Acknowledge Slot. Note: When the CRC Delimiter is detected, the CAN FD protocol controllers switch back to the bit-rate with the longer bit time. The phase-shift between the nodes in a CAN network is defined by the delay times in the transceivers and the propagation time on the CAN bus line.
- phase-shift is the same in CAN and in CAN FD, but it is proportionally larger in the phase with the shorter bit time. All receivers in the network may have a different phase-shift to the transmitter, since they see the transmitted edges at different times. To compensate for these phase- shifts when the bit-rate is switched back to the longer bit time, one additional bit time tolerance is allowed before and after the edge from recessive to dominant that starts the Acknowledge Slot.
- the ACK FIELD is two or three bits long and contains the ACK SLOT and the ACK DELIMITER, as shown in Figure 5 .
- the transmitting station sends two 'recessive' bits.
- a RECEIVER which has received a valid message correctly, reports this to the TRANSMITTER by sending a'dominant' bit during the ACK SLOT (it sends 'ACK').
- ACK SLOT All stations having received the matching CRC SEQUENCE report this within the ACK SLOT by superscribing the 'recessive' bit of the TRANSMITTER by a'dominant' bit. To compensate for phase shifts between the receivers, all nodes accept a two bit long 'dominant' phase of overlapping ACK bits as a valid ACK.
- the ACK DELIMITER is the second or third bit of the ACK FIELD and has to be a 'recessive' bit. As a consequence, the ACK SLOT is surrounded by two'recessive' bits (CRC DELIMITER, ACK DELIMITER).
- Each DATA FRAME and REMOTE FRAME is delimited by a flag sequence consisting of seven 'recessive' bits.
- the CAN FD protocol defines two bit-rates, the first bit-rate with a longer bit time and the second bit-rate with a shorter bit time.
- the definition for the first bit-rate is the same as for the NOMINAL BIT RATE and the NOMINAL BIT TIME in the CAN protocol specification.
- the definition for the second bit-rate requires a separate configuration register set. Both bit times consist of separate nonoverlapping time segments, these segments
- the time segments for the two bit rates of the CAN FD protocol are defined by two sets of configuration registers.
- SYNC SEG This part of the bit time is used to synchronize the various nodes on the bus. An edge is expected to lie within this segment.
- PROP SEG This part of the bit time is used to compensate for the physical delay times within the network. It is twice the sum of the signal's propagation time on the bus line, the input comparator delay, and the output driver delay.
- PHASE SEG1, PHASE SEG2 These Phase-Buffer-Segments are used to compensate for edge phase errors. These segments can be lengthened or shortened by resynchronization.
- SAMPLE POINT The SAMPLE POINT is the point of time at which the bus level is read and interpreted as the value of that respective bit. It's location is at the end of PHASE_SEG1.
- the INFORMATION PROCESSING TIME is the time segment starting with the SAMPLE POINT reserved for calculation the subsequent bit level.
- the length of the time segments is defined in integer multiples of the TIME QUANTUM, with the TIME QUANTUM is a fixed unit of time derived from the oscillator period. There exists a programmable prescaler, with integral values, ranging at least from 1 to 32. Starting with the MINIMUM TIME QUANTUM, the TIME QUANTUM can have a length of
- the total number of TIME QUANTA in a bit time has to be programmable at least from 8 to 25.
- the position of the SAMPLE POINT may differ in the two bit timing configurations, the length of the PROP_SEG may be reduced in the configuration for the second bit-rate.
- CAN FD protocol implementations shall provide the same controller-host interfaces as CAN protocol implementations to provide an easy migration path for existing CAN applications. The minimum required differences are new configuration registers for the CAN FD operation.
- the CAN FD protocol allows frames with more than eight data bytes. It is not required that all CAN FD implementations support longer frames, CAN FD implementations may be limited to a subset of DATA FIELD length.
- a CAN FD implementation that supports only up to e.g. eight data bytes in a frame shall not treat received longer frames as an error, fault-free longer frames shall be acknowledged and shall take part in acceptance filtering. Received data bytes that exceed the CAN FD's data handling capacity shall be discarded.
- a such limited CAN FD implementation that is requested to transmit a longer frame shall fill up the data bytes in the frame that exceed the data handling capacity with a constant byte pattern. This pattern shall be chosen so that it does not cause the insertion of STUFF BITS, e.g. 0x33.
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- Information Transfer Systems (AREA)
Claims (15)
- Procédé pour la communication série par un échange de trames de données entre un noeud de transmission et au moins un noeud de réception qui sont connectés au moyen d'un système de bus,
les rôles de transmetteur et de récepteur étant affectés aux noeuds pour chaque trame de données par la procédure d'arbitrage définie dans la norme CAN ISO 11898-1, les trames de données échangées ayant une structure logique selon la norme CAN ISO 11898-1,
les trames de données étant composées d'une séquence de bits,
la structure logique des trames de données comportant un bit de début de trame, un champ d'arbitrage, un champ de commande, un champ de données, un champ CRC, un champ d'accusé de réception et un champ de fin de trame,
le champ de données pouvant avoir une longueur de zéro bit,
chaque autre champ contenant au moins deux bits, chaque bit ayant un temps de transmission de bit, chaque temps de transmission de bit étant divisé en segments de temps (SYNC_SEG, PROP_SEG, PHASE_SEG1, PHASE_SEG2),
le débit binaire étant défini par la valeur réciproque du temps de transmission de bit,
pour au moins une première partie prédéterminable d'une trame de données échangée, le débit binaire dans cette première partie étant inférieur à une valeur maximum de 1Mbit/s,
pour au moins une deuxième partie prédéterminable de la même trame de données échangée, le débit binaire dans cette deuxième partie étant supérieur au débit binaire dans ladite première partie prédéterminable,
au moins deux ensembles différents de valeurs des segments de temps (SYNC_SEG, PROP_SEG, PHASE_SEG1, PHASE_SEG2) étant prédéterminables pour lesdites deux parties différentes des trames de données échangées,
caractérisé en ce que le transmetteur envoie un bit récessif (CRC DELIMITER) après la séquence CRC et en ce que tous les noeuds acceptent deux bits récessifs avant le changement de l'état de bus qui commence l'ACK SLOT sans détecter une erreur. - Procédé selon la revendication 1, caractérisé en ce qu'un récepteur qui a reçu la séquence CRC d'adaptation envoie un bit dominant (ACK) sans l'ACK SLOT et en ce que tous les noeuds acceptent un état de buts dominant long de deux bits de bits ACK de chevauchement sans détecter une erreur.
- Procédé selon la revendication 1 ou 2, caractérisé en ce que dans au moins un desdits deux ensembles différents de valeurs des segments de temps (SYNC_SEG, PROP_SEG, PHASE_SEG1, PHASE_SEG2), la valeur de PROP_SEG peut s'écarter de la plage de valeurs spécifiées dans la norme CAN ISO 11898-1 et en particulier peut avoir une valeur de zéro.
- Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les trames de données échangées avec au moins deux temps différents de transmission de bit peuvent être distinguées des trames de données avec des temps de transmission de bit uniformes par le bit réservé (r0) contenu dans le champ de commande.
- Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que ladite deuxième partie prédéterminable avec un temps de transmission de bit inférieur d'une trame de données échangée commence avec le bit réservé (r0) et se termine avec le bit récessif (CRC DELIMITER) à la fin du champ CRC ou avec la détection d'une condition d'erreur qui résulte dans le début d'une trame d'erreur.
- Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que des trames de données échangées avec au moins deux temps de transmission de bit différents peuvent contenir un champ de données d'une taille supérieure à huit octets,
la taille du champ de données étant spécifiée par le code de longueur de données contenu dans le champ de commande,
un codage pour le code de longueur de données utilisé étant différent de celui défini dans la norme CAN ISO 11898-1. - Procédé selon la revendication 6, caractérisé en ce que le codage différent pour le code de longueur de données est tel que les valeurs entre 0b0000 et 0b1000 correspondent à des champs de données de zéro à huit octets comme dans la norme CAN ISO 11898-1, et que les valeurs entre 0b1001 et 0b1111 correspondent à des champs de données supérieurs à huit octets.
- Procédé selon l'une quelconque des revendications 6 à 7, caractérisé en ce que le contenu du champ CRC pour au moins les trames de données échangées avec une taille du champ de données supérieure à huit octets est déterminé à l'aide d'un polynôme CRC différent de celui défini dans la norme CAN ISO 11898-1.
- Procédé selon l'une quelconque des revendications 6 à 8, caractérisé en ce que la taille du champ CRC pour au moins les trames de données échangées avec une taille du champ de données supérieure à huit octets est différente de celle définie dans la norme CAN ISO 11898-1.
- Procédé selon l'une quelconque des revendications 6 à 9, caractérisé en ce qu'en commençant avec le bit de début de trame, au moins deux séquences CRC sont calculées concurremment, jusqu'à ce que le bit d'arbitrage des séquences CRC ait été sélectionné par le bit réservé (r0) et par le code de longueur de données pour être la séquence CRC valide qui peut provoquer une erreur CRC.
- Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que lesdits deux temps différents de transmission de bit dans les trames de données échangées sont produits en utilisant deux valeurs différentes du pré-échelonneur,
le pré-échelonneur étant défini comme le rapport entre TIME QUANTUM et MINIMUM TIME QUANTUM. - Procédé selon l'une quelconque des revendications 1 à 11, caractérisé en ce que dans ladite deuxième partie prédéterminable des trames de données échangées, dans lesquelles le temps de transmission de bit des bits est inférieur à celui dans ladite première partie prédéterminable, un procédé de codage binaire utilisé est différent de celui utilisé dans la ladite première partie prédéterminable.
- Dispositif pour la communication série par un échange de trames de données entre un noeud de transmission et au moins un noeud de réception qui sont connectés au moyen d'un système de bus,
les rôles de transmetteur et de récepteur étant affectés aux noeuds pour chaque trame de données par la procédure d'arbitrage définie dans la norme CAN ISO 11898-1,
les trames de données échangées ayant une structure logique selon la norme CAN ISO 11898-1,
les trames de données étant composées d'une séquence de bits,
la structure logique des trames de données comportant un bit de début de trame, un champ d'arbitrage, un champ de commande, un champ de données, un champ CRC, un champ d'accusé de réception et un champ de fin de trame,
le champ de données pouvant avoir une longueur de zéro bit,
chaque autre champ contenant au moins deux bits, chaque bit ayant un temps de transmission de bit, chaque temps de transmission de bit étant divisé en segments de temps (SYNC_SEG, PROP_SEG, PHASE_SEG1, PHASE_SEG2),
le débit binaire étant défini par la valeur réciproque du temps de transmission de bit
pour au moins une première partie prédéterminable d'une trame de données échangée, le débit binaire dans cette première partie étant inférieur à une valeur maximum de 1Mbit/s,
pour au moins une deuxième partie prédéterminable de la même trame de données échangée, le débit binaire dans cette deuxième partie étant supérieur à celui dans ladite première partie prédéterminable,
le dispositif contenant des moyens pour la prédétermination d'au moins deux ensembles différents de valeurs des segments de temps (SYNC_SEG, PROP_SEG, PHASE_SEG1, PHASE_SEG2), pour lesdites deux parties différentes des trames de données échangées,
caractérisé en ce que le dispositif du transmetteur envoie un bit récessif (CRC DELIMITER) après la séquence CRC et en ce que tous les noeuds acceptent deux bits récessifs avant le changement de l'état de bus qui commence l'ACK SLOT sans détecter une erreur. - Dispositif selon la revendication 13, caractérisé en ce que le dispositif d'un récepteur qui a reçu la séquence CRC d'adaptation envoie un bit dominant (ACK) à l'intérieur de l'ACK SLOT et en ce que tous les noeuds acceptent un état de bus dominant long de deux bits de bits ACK de chevauchement sans détecter une erreur.
- Dispositif selon la revendication 13 ou 14, caractérisé en ce que le dispositif contient des moyens permettant d'exécuter un des procédés de communication selon les revendications 1 à 12.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11164445.6A EP2521319B1 (fr) | 2011-05-02 | 2011-05-02 | Réseau de type CAN avec taux de débit de données flexible |
EP12720841.1A EP2730061B1 (fr) | 2011-05-02 | 2012-05-02 | Réseau can à débit de données souple |
CN201280021339.9A CN103503382B (zh) | 2011-05-02 | 2012-05-02 | 具有灵活数据速率的控制器局域网 |
US14/114,784 US9350617B2 (en) | 2011-05-02 | 2012-05-02 | Controller area network with flexible data-rate |
JP2014508776A JP2014518034A (ja) | 2011-05-02 | 2012-05-02 | 可変的なデータレート対応のコントローラエリアネットワーク |
KR1020137032031A KR101921773B1 (ko) | 2011-05-02 | 2012-05-02 | 가변 데이터-전송률을 갖는 계측 제어 통신망 |
PCT/EP2012/058000 WO2012150248A1 (fr) | 2011-05-02 | 2012-05-02 | Réseau can à débit de données souple |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11164445.6A EP2521319B1 (fr) | 2011-05-02 | 2011-05-02 | Réseau de type CAN avec taux de débit de données flexible |
Publications (2)
Publication Number | Publication Date |
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EP2521319A1 EP2521319A1 (fr) | 2012-11-07 |
EP2521319B1 true EP2521319B1 (fr) | 2015-10-14 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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EP11164445.6A Active EP2521319B1 (fr) | 2011-05-02 | 2011-05-02 | Réseau de type CAN avec taux de débit de données flexible |
EP12720841.1A Active EP2730061B1 (fr) | 2011-05-02 | 2012-05-02 | Réseau can à débit de données souple |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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EP12720841.1A Active EP2730061B1 (fr) | 2011-05-02 | 2012-05-02 | Réseau can à débit de données souple |
Country Status (6)
Country | Link |
---|---|
US (1) | US9350617B2 (fr) |
EP (2) | EP2521319B1 (fr) |
JP (1) | JP2014518034A (fr) |
KR (1) | KR101921773B1 (fr) |
CN (1) | CN103503382B (fr) |
WO (1) | WO2012150248A1 (fr) |
Families Citing this family (52)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102010041223A1 (de) * | 2010-09-22 | 2012-03-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur seriellen Datenübertragung mit umschaltbarer Datenrate |
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CN103503382A (zh) | 2014-01-08 |
JP2014518034A (ja) | 2014-07-24 |
EP2730061A1 (fr) | 2014-05-14 |
US20140071995A1 (en) | 2014-03-13 |
WO2012150248A1 (fr) | 2012-11-08 |
KR101921773B1 (ko) | 2018-11-23 |
EP2730061B1 (fr) | 2019-04-03 |
CN103503382B (zh) | 2017-01-18 |
EP2521319A1 (fr) | 2012-11-07 |
US9350617B2 (en) | 2016-05-24 |
KR20140027382A (ko) | 2014-03-06 |
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